HJ AC Servo Motor Technical Data Manual Issue 5.5

TECHNICAL DATA MANUAL
HJ BRUSHLESS
AC SERVOMOTORS
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Publication No. TD HJM 1.2

ISSUE NO.5.5 (Metric Series)
Date: November 2009

CONTENTS
1 Introduction
2 General information
- Receiving and storage.
- Environmental protection.
- Mounting of motors.
- Thermal protection.
- Holding brake options.
- Maintenance and servicing.
- E.C. Directives.
3 Mechanical tolerance
4 Connection details
5 Feedback device specification
6 Torque derating at high temperatures
7 HJ96 Technical Information
10 HJT155 Technical Information

12 Useful Formulae
INTRODUCTION
SEM has continuously developed its range of servo products to best serve the latest
industry requirements. The new HJ range of servomotors uses the long experience gained
in the servomotor field to give cost effective performance.
The HJ range is fitted with Neodymium-Iron-Boron magnets (NdFeB) and is ideally suited
to the requirements of Machine Tools, Transfer Lines, Robotics, etc. The motors are
enclosed to IP65 as standard (other ratings on request).
WHY BRUSHLESS?
The optimum performance of a Brushless Servomotor is achievable without danger of

Commutator ‘Flashover’.
Speeds of up to 6000 rpm Direct Drive are possible.
SEM Brushless Servomotors are available with High Flux- Density Rare-Earth Magnets
making for a robust and compact design.
1 As the winding is stationary we have been able to position a Thermal Protector here,
where it is most effective. By using this Thermal Protector, together with a simple current
limit, the risk of overheating or demagnetising a brushless servomotor can be minimised.
1
The motors are virtually maintenance free.
SEM BRUSHED SERVOMOTORS STILL HAVE THE FOLLOWING ADVANTAGES
A. Minimum system cost Torque for Torque.
B. Smoothest running at low speed.
SINUSOIDAL MOTORS
Sinusoidal (A.C.) - The motor back E.M.F. and current waveforms are sinusoidal. The
Drive Amplifier continuously measures the Rotor position and adjusts the phase currents
accordingly.
GENERAL INFORMATION
RECEIVING AND STORAGE

On receipt the motors should be inspected. Any damage found should be reported
immediately to SEM and the carrier.
The shaft has been coated with a rust inhibitor, this can be removed with a suitable
solvent.
ENVIRONMENTAL PROTECTION
All SEM brushless servomotors are protected to IP65 except at the shaft where the
protection is to IP64 with fitted shaft seal or IP54 with no seal fitted.
Protection Class Description

IP65/64 (Standard feature) Totally protected against dust.
Protected against low pressure jets of water from all
PROTECTIVE
COLLAR directions with limited ingress permitted.
WITH SHAFT
SEAL FITTED Viton or Nitrile oil seal, supplied loose or factory
fitted (see option codes W00, W01, W02 & W03).
Continuous external lubrication is required
IP65/54 (Optional feature) Protected against dust with limited ingress permitted.
Protected against water sprayed from all directions
2 PROTECTIVE
COLLAR
NO SHAFT
SEAL
with limited ingress permitted.
2
LUBRICATION OF SHAFT OILSEALS
SEM uses the synthetic, non-silicon lubricant ‘Anderol 752’ on all factory fitted Nitrile and
Viton shaft seals (options W00 and W01).
All SEM supplied shaft seals must only be used where continuous lubrication external to
the motor is guaranteed.
MOUNTING OF MOTORS
Where a toothed belt drive is proposed the motors should be flange mounted to an angle
bracket, or similar, as close as possible to the line of action of the drive. The motor pulley
should be positioned as close as possible to the mounting face and the pulley diameter
chosen to maintain dynamic shaft loading within the limits indicated on the loading graphs.
Particular attention must be given to tension of drive belts, with reference to belt
manufacturers instructions so that unnecessarily high shaft loads are avoided on
installation.
When the motor is close coupled to a reduction gearbox, it is strongly recommended that
the complete unit is fitted to the final product by attachment at the gearbox, not by foot
mounting the motor.
By this method the unit will be better able to withstand the reaction of high output torques.
Due to the nature of the NdFeB magnets used in HJ motors, forced air ventilation is not
available.
GENERAL INFORMATION
THERMAL PROTECTION
In all SEM brushless servomotors, the thermal sensor is embedded in the winding so that
it can respond as quickly as possible to protect the winding from overheating.
In HJ servomotors the standard sensor is a PTC sensor (same as or similar to KTY84-
130). A normally closed thermal switch can also be supplied with other sensors available
on request.
The thermal protector is not capable of switching motor line currents and must be used
only in the drive amplifier circuitry.
PTC Temperature Sensor (Standard)

This is a PTC sensor (same as or similar to Philips KTY84-130) whose resistances varies
against temperature as follows.
Resistance change with termperature

Temperature ºC Resistance Ω
2 2
0 493
25 598
100 970 to 1030
150 1340
160 1415
Normally Closed Switch (Option)

The thermal switch fitted to SEM brushless motors is normally closed when cold and
opens when the switching temperature is exceeded.
Switch Ratings
50VAC 2.5A with 1.0 power factor
50VAC 1.6A with 0.6 power factor
(Ratings as VDE 0631, 10.4.1)
GENERAL INFORMATION
HOLDING BRAKE OPTIONS
Two models of fail safe brake options are available, one is a spring applied and the other
a permanent magnet type.
Both types are primarily holding brakes e.g. to hold a vertical axis under a no voltage
condition. However, they can also be used in some applications for emergency stopping.
Spring Applied Brake

The brake is of the ‘springset’ fail to safe type.
Connection should be such that when the motor is powered the brake coil is energised
and the brake released. Under normal operating conditions no maintenance is required
other than ensuring that the hub and stationary plates are kept free from foreign matter.
Standard Ratings
Brake holding torque at Nominal Power

Voltage
Frame working temperature Consumed
Vdc
Nm (lb-in) W
2 2
HJ96 5 (44) 24 or 90 13
HJ116 13.5 (119) 24 or 90 15
HJ130 13.5 (119) 24 or 90 15
HJ/HJT155 40 (352) 24 or 90 24
Permanent Magnet Brake

Of single disk permanent magnet design, these brakes offer backlash free performance.
The brake coil is energised to release the brake making the device inherently fail-safe.
Under normal operating conditions no maintenance is required.
Standard Ratings
Brake holding torque at Nominal Power

Voltage
Frame working temperature Consumed
Vdc
Nm (lb-in) W
HJ96 7 (62) 24 or 90 16
HJ116 15 (133) 24 or 90 18
HJ130 TBA TBA TBA
HJ/HJT155 28 (248) 24 or 90 24
GENERAL INFORMATION
MAINTENANCE AND SERVICING
Bearings
All servomotors are fitted with double shielded, single row radial ball bearings. Under
normal conditions no maintenance is required. The bearings are selected to give a
minimum 30,000 hours life. Refer to the shaft loading graphs for further information.
Bearing Specification
Bearing Specification
Frame Drive End / Non-Drive End ISO Code

HJ96 DE 6204
HJ96 NDE 6203
HJ116 DE 6205
HJ116 NDE 6204
HJ130 DE 6206
HJ130 NDE 6204
HJ/HJT155 DE 6207
HJ/HJT155 NDE 6206
The bearings are selected to give a minimum 30,000 hours life. Refer to the shaft loading
graphs for further information.
2 Mechanical
It is recommended that a general inspection be made at regular intervals to check all
bolts, nuts, couplings, etc. to ensure that they are still tightened to the correct torque. For
information on the repair and rectification of brushless servomotors please contact SEM.
2
End Cover Bolts – Torque Table
Frame – Size Tighten to Nm (in-lb)

HJ96 – M4 2.2 (20)
HJ116 – M5 5.0 (44)
HJ130 – M5 5.0 (44)
HJ155 – M6 8.0 (71)
ENVIRONMENTAL LIMITS FOR SHOCK AND VIBRATION
The following are our recommendations as to the level of shock and vibration load that
motors from the HJ series may reasonably be expected to withstand without adverse
effects.
Horizontal flange mounted motor 90º to shaft axis Parallel to shaft axis
Recommended max shock level 20g for 5ms 3g for 5ms
Recommended max vibration level 3g at 20Hz to 2 kHz 1g at 20Hz to 2KHz
It is recommended that motors fitted with permanent magnet brakes are not subject to
axial shock. Where motors are being considered for use on Indexing Punch Presses,
Lamination Presses etc., or other applications where high levels of shock and vibration are
likely, it is strongly advised that SEM Ltd. be consulted at the earliest opportunity. In cases
where feedback devices with lower tolerance to shock and vibration loads are fitted, these
values should override the above data.
E.C. DIRECTIVES
There are three main directives that affect applications incorporating servomotors.
Machinery Directive 2006/42/EC

This directive applies to complete machines.
In accordance with the directive, SEM provides a Certificate of Incorporation which

includes installation instructions and general service guidelines in different languages.
Low Voltage Directive 2006/95/EC

This applies to electrical equipment for use with a DC voltage of 75V to 1500V and AC
voltage of 50V to 1000V.
SEM AC/DC brushless servomotors in the ranges HJ96, HJ116, HJ130 and HJ/HJT155
conform to the EC directive.
A certificate of conformity is available from SEM sales on request.
2 EMC Directive (Electro Magnetic Compatibility) 2004/108/EC

This directive applies to products or appliances with an intrinsic function for the end user in
which:
2
1. They contain electrical/electronic systems liable to cause an electromagnetic
disturbance.
2. They contain electrical/electronic systems which may have their performance affected
by an electromagnetic disturbance.
SEM can provide data sheets outlining the EMC characteristics of a standard SEM AC
brushless servomotor and giving advice on cable screening connectors and other related
subjects.
SEM will be pleased to discuss any EMC related problems encountered by customers
incorporating SEM AC/DC brushless servomotors into such products or appliances which
are governed by the EMC directive.
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MECHANICAL TOLERANCE
IEC 72 SHAFT & SPIGOT CHECKING CHART
SHAFT DIAMETER NORMAL PRECISION

CLASS CLASS
E/
2
E mm mm inch mm inch
≤10 .030 .00181 .015 .00059

>10 ≤ 18 .035 .00138 .018 .00071
>18 ≤ 30 .040 .00157 .021 .00082
>30 ≤ 50 .050 .00196 .025 .00098
>50 ≤ 80 .060 .00236 .030 .00181
SHAFT EXTENSION RUN-OUT
10 10
3 3
CONCENTRICITY OF SPIGOT PERPENDICULARITY OF
AND SHAFT MOUNTING FACE TO SHAFT
SPIGOT MAXIMUM PERMISSIBLE CHANGE

DIAMETER IN INDICATOR READING
NORMAL PRECISION
CLASS CLASS
mm mm inch mm inch
40
50
60 .08 .00315 .04 .00157
70
80
95
110
130 .10 .00394 .05 .00197
190
230
CONNECTION DETAILS
BRUSHLESS MOTOR WITH STANDARD RESOLVER
FEEDBACK CONNECTOR TERMINAL BOX (OPTION)

(HJ155 ONLY)
PIN FUNCTION B+ B– U V W
1 STATOR 2nd PHASE S2
2 STATOR 2nd PHASE S4
7 ROTOR R2
BRAKE MOTOR EARTH
8 THERMAL SENSOR + (OPTIONAL) TERMINAL
9 THERMAL SENSOR –
10 ROTOR R1
11 STATOR 1ST PHASE S1
12 STATOR 1ST PHASE S3
INTERCONNECTRON SUPPLY CONNECTOR (OPTION)
4 SIZE 1 - 12 PIN (20° OFFSET)
1 9 8
INTERCONNECTRON
PIN
U
FUNCTION
MOTOR U
4
SIZE 1.5 - 6 PIN
2 10 12 7 V MOTOR V
3 11 6 1
– V +
4 5 2
W U + BRAKE B+ IF FITTED
– BRAKE B– IF FITTED
W MOTOR W
(HJ155 ONLY) MOTOR EARTH
SUPPLY CONNECTOR (OPTION)
INTERCONNECTRON PIN FUNCTION

SIZE 1 - 6 PIN
1 MOTOR U
2 MOTOR V
5 1
6
4 2 4 BRAKE B+ IF FITTED
NOTE:
Connectors 5 BRAKE B– IF FITTED
viewed from 6 MOTOR W
customer side
(HJ96, HJ116 & HJ130) MOTOR EARTH
CONNECTION DETAILS
BRUSHLESS MOTOR WITH HEIDENHAIN ERN1387
ENCODER
(HJ155 ONLY)
PIN FUNCTION ENC. PIN B+ B– U V W
1 A+ (0°SIGNAL) 6B
2 A– (0°SIGNAL) 2A
3 R+ (REF SIGNAL) 4b
4 D– (COSINUS) 6A
5 C+ (SINUS) 7b
6 C– (SINUS) 1A
7 0V (UN) 5B
8 THERMAL SENSOR +
10 +5V (UP) 1B
BRAKE MOTOR EARTH
11 B+ (90°SIGNAL) 3B
(OPTIONAL) TERMINAL
12 B– (90°SIGNAL) 5A
13 R– (REF SIGNAL) 4A
14 D+ (COSINUS) 2B
15 0V (SENSOR UN) 3A
16 +5V (SENSOR UP) 7A
17

INTERCONNECTRON
4 SIZE 1 - 17 PIN
2
3 4
5
INTERCONNECTRON
PIN
U
FUNCTION
MOTOR U
4
13 14 SIZE 1.5 - 6 PIN V MOTOR V
1 12 17 6
1
11 16 15 7
10 8 – V + 2
9
W U + BRAKE B+ IF FITTED
W MOTOR W
MOTOR EARTH
(HJ155 ONLY)
PIN FUNCTION
INTERCONNECTRON
SIZE 1 - 6 PIN 1 MOTOR U
2 MOTOR V
5 1
6 4 BRAKE B+ IF FITTED
4 2
NOTE: 5 BRAKE B– IF FITTED
Connectors
customer side
(HJ96, HJ116 & HJ130) MOTOR EARTH
CONNECTION DETAILS
BRUSHLESS MOTOR WITH
HEIDENHAIN ENDAT ENCODER
(HJ155 ONLY)
1 A+ (0°SIGNAL)
2 A– (0°SIGNAL)
3 DATA
4
5 CLOCK +
6
7 0V (UN)
8 THERMAL SENSOR +
10 +5V (UP)
BRAKE MOTOR EARTH
11 B+ (90°SIGNAL)
(OPTIONAL) TERMINAL
12 B– (90°SIGNAL)
13 DATA –
14 CLOCK –
15 0V (SENSOR UN)
16 +5V (SENSOR UP)
17

INTERCONNECTRON
4 SIZE 1
2
17 PIN
3 4
5
INTERCONNECTRON
PIN
U
FUNCTION
MOTOR U
4
13 14 SIZE 1.5 6 PIN V MOTOR V
W
1 12 17
6
1 –
11 16 15 7
10 8 – V + 2 –
9
W U + BRAKE B+ (IF FITTED)
– BRAKE B– (IF FITTED)
W MOTOR W
MOTOR EARTH
PIN FUNCTION
INTERCONNECTRON
SIZE 1 6 PIN 1 MOTOR U
2 MOTOR V
5 1
6 4 BRAKE B+ (IF FITTED)

4 2
NOTE: 5 BRAKE B– (IF FITTED)
Connectors
customer side
MOTOR EARTH
CONNECTION DETAILS
BRUSHLESS MOTOR WITH STEGMANN SRS50, SRM60,
SCS60 OR SCM60 ENCODER
(HJ155 ONLY)
PIN FUNCTION ENC. PIN B+ B– U V W
1 SIN + 7
2 REFSIN 3
3 + 485 5
4
5
6
7 GROUND 2
8 THERMAL SENSOR +
10 +V 1
BRAKE MOTOR EARTH
11 COS + 8
(OPTIONAL) TERMINAL
12 REFCOS 4
13 – 485 6
14
15
16
17
INTERCONNECTRON
4 SIZE 1 - 17 PIN
2
3 4
5
INTERCONNECTRON
PIN
U
FUNCTION
MOTOR U
4
13 14 SIZE 1.5 - 6 PIN V MOTOR V
1 12 17 6
1
11 16 15 7
10 8 – + 2
9 V
+ BRAKE B+ IF FITTED
W U
W MOTOR W
MOTOR EARTH
(HJ155 ONLY)
PIN FUNCTION
INTERCONNECTRON
SIZE 1 - 6 PIN 1 MOTOR U
2 MOTOR V
5 1
4 BRAKE B+ IF FITTED
6
4 2
NOTE: 5 BRAKE B– IF FITTED
Connectors
6 MOTOR W
viewed from
customer side MOTOR EARTH
(HJ96, HJ116 & HJ130)
CONNECTION DETAILS
BRUSHLESS MOTOR WITH OIH48 ENCODER
AND INTERCONNECTRON CONNECTORS
(HJ155 ONLY)
1 CHANNEL A
2 CHANNEL A-
3 CHANNEL Z
4 CHANNEL V-
5 CHANNEL U
6 CHANNEL U-
7 0V
8 THERMAL SENSOR K1
9 THERMAL SENSOR K2
10 +5V
BRAKE MOTOR EARTH
11 CHANNEL B
(OPTIONAL) TERMINAL
12 CHANNEL B-
13 CHANNEL Z-
14 CHANNEL V
15 CHANNEL W-
16 CHANNEL W
17

INTERCONNECTRON
4 SIZE 1
2
17 PIN
3 4
5
INTERCONNECTRON
PIN
U
FUNCTION
MOTOR U
4
13 14 SIZE 1.5 6 PIN V MOTOR V
W
1 12 17
6
1 –
11 16 15 7
10 8 – V + 2 –
9
W U + BRAKE B+ (IF FITTED)
– BRAKE B– (IF FITTED)
W MOTOR W
MOTOR EARTH
PIN FUNCTION
INTERCONNECTRON
SIZE 1 6 PIN 1 MOTOR U
2 MOTOR V
5 1
6 4 BRAKE B+ (IF FITTED)

4 2
NOTE: 5 BRAKE B– (IF FITTED)
Connectors
customer side
MOTOR EARTH
CONNECTION DETAILS
HJ BRUSHLESS MOTOR WITH
TAMAGAWA 0IH48 ENCODER
FEEDBACK CONNECTOR NOTE: Connectors viewed from customer side
PIN FUNCTION
A A CHANNEL
B W CHANNEL
–
C A CHANNEL
–
D W CHANNEL
E B CHANNEL MS3102E-20-29P
–
F B CHANNEL
G Z CHANNEL
– M A B
H Z CHANNEL
L N C
J 0V T P
– K D
K U CHANNEL
L V CHANNEL
J S R E
H G F
M U CHANNEL
N DC +5V
–
P V CHANNEL
R
S THERMAL SENSOR K1
T THERMAL SENSOR K2
4 SUPPLY CONNECTOR (MOTOR WITHOUT BRAKE)
PIN FUNCTION MS3102E-18-10P MS3102E-22-22P

4
A MOTOR U
D A D A
B MOTOR W
C MOTOR V C B C B
D MOTOR EARTH
(HJ96,116 & 130A,C,E) (HJ130G, HJT155, HJ190)
SUPPLY CONNECTOR (MOTOR WITH BRAKE)
PIN FUNCTION
MS3102E-20-15P MS3102E-24-10P
A MOTOR U
B MOTOR W
A F A A F A
C MOTOR V E G B E G B
D C D C
D MOTOR EARTH
E BRAKE B+
F BRAKE B– (HJ96,116 & 130A,C,E) (HJ130G, HJT155, HJ190)

G
IMPORTANT! THE POWER CONNECTION FOR SEM HJ SERVOMOTORS FITTED WITH BRAKE
AND MS CONNECTORS IS NOT COMPATIBLE WITH SEM HD OR HR SERVOMOTORS.
PLEASE CONTACT SEM FOR MORE INFORMATION
FEEDBACK DEVICE SPECIFICATION
SPECIFICATION FOR RESOLVER SIZE 21
Fitted to SEM HJ96, 116, 130, 155 and 190 motors
Configuration: 2 pole (1speed), brushless resolver.
Input to single phase rotor.

Output from 2 phase stator
Connections and output equation: see drawing
LTN Tamagawa
RE21-1-A05 TS2640N321E64
DATA Primary Side R1-R2 R1-R2
Pole Pairs 1 1
Transformation Ratio 0.5 ± 0.05 0.5 ± 0.05
Input Voltage 7Vrms 7Vrms
Input Current 30mA 40mA
Input Frequency 10kHz 10KHz
Phase Shift (± 3º) -8º +1º
Impedance
Zro 122 j 203 Ohm 100 j 140 Ohm
Zso 245 j 454 Ohm 140 j 270 Ohm
Zss 202 j 415 Ohm 120 j 240 Ohm
DC resistances
Rotor 56 Ohm ± 10% 36 Ohm ± 10%
Stator 53 Ohm ± 10% 42 Ohm ± 10%
5 5
Null Voltage 30 mV max 20 mV max
Accuracy ± 6’ ± 10’
Approved resolver LTN RE-21-1-A05

Tamagawa TS2640N321E64
SEM’S STANDARD SETTINGS
8 POLE MOTOR 6 POLE MOTOR

Rotation clockwise looking at drive end Rotation clockwise looking at drive end
Eu Eu
Ev Ev
Ew Ew
5 S1-S3 S1-S3
5
S2-S4 S2-S4
R1-R2 R1-R2
NOTES
1 Clockwise rotation means that the shaft rotates clockwise looking at the drive end of the shaft.
2 The EMFs (Eu, Ev, Ew) are phase EMFs
3 For positive current into the motor: lu, in phase with Eu will give a clockwise torque (motoring)
SEM’S STANDARD SETTING FOR OIH35/OIH48 ENCODER
(Note that some customers specify alternative settings)
Rotation clockwise looking at drive end
MOTOR PHASE Eu
MOTOR PHASE Ev
MOTOR PHASE Ew
5 Eu-Ev
5
Tamagawa U
Tamagawa V
Tamagawa W
360 330 300 270 240 210 180 150 120 90 60 30 0
NOTES
1 Clockwise rotation means that the shaft rotates clockwise looking at the drive end of the shaft.
2 The EMFs (Eu, Ev, Ew) are phase EMFs
3 For + VE current into the motor: lu, in phase with Eu will give a clockwise torque (motoring)
DERATING OF SEM MOTORS WITH NdFeB MAGNETS
for unusual ambient temperatures
Note that the peak current must be reduced as well as the rated current
1.2
1.0
RA
RA
TE
TE
D
D
AN
AN
D
D
PE
PE
AK
AK
CU
CU
MULTIPLYING FACTOR FOR CURRENT AND TORQUE
RR
RR
0.8
EN
E
NT
-20°C BEARING SEAL MAY BE DAMAGED
TS
BR
-30°C BEARING MAY BE DAMAGED
T DM
AK
EM
OT
OR
OT
OR
6 0.6
6
0.4
0.2
0
-40 -20 0 20 40 60 80 100
AMBIENT (deg C)
HJ96C6
HJ96G6
DATA TABLES · PERFORMANCE CURVES · SHAFT LOADING · MOTOR DRAWING · OPTIONAL FEATURES
HJ96C6
Technical Data
Brushless AC Servomotors
7
Parameter Units HJ96C6 - 44 HJ96C6 - 64 HJ96C6 - 88 HJ96C6-130
GENERAL Line-Line Volts
Voltage Gradient No Load (Peak)/1000rpm 44 64 88 130
Max. Motor EMF Line - Line Volts 260 380 530 700
Max. Mechanical Speed Limit rpm 6000 6000 6000 5400
Max. Current ( Peak) A 36 25 18 11.9
Continuous Stall Torque TENV (110K)\ Nm 3.0 3.0 3.0 3.0
lb-in 27 27 27 27
( Size 300 x 300 x 12 mm ) Nm 3.3 3.3 3.3 3.3
Cont. Stall Torque when fitted to Heatsink
( Size 12 x 12 x 0.5 in ) lb-in 29 29 29 29
Peak Stall Torque Nm 11 11 11 11
lb-in 97 97 97 97
Continuous Stall Current rms (110K) \ A 5.8 4 2.9 2

Rotor Polar Moment of Inertia kgcm² 3.3 3.3 3.3 3.3
(Inclusive of Resolver Inertia) lb-in sec² 0.0029 0.0029 0.0029 0.0029
†
Torque Constant 3 x Kt rms* Nm/A 0.51 0.75 1.03 1.5
lb-in/A 4.6 6.6 9.1 13.5
STATOR WINDING
Resistance Line-Line* : 1.6 3.2 6.0 15

Inductance Line-Line mH 3.5 7.2 14 32
THERMAL
Insulation Class F F F F
Max. Ambient Temperature °C 40 40 40 40
°F 104 104 104 104
Thermal Time Constant minutes 50 50 50 50
Thermal Resistance °C/W 0.99 0.99 0.99 0.99
°F/W 1.8 1.8 1.8 1.8
MECHANICAL
Static Friction Torque Nm 0.07 0.07 0.07 0.07

lb-in 0.62 0.62 0.62 0.62
Cogging Torque Nm 0.088 0.088 0.088 0.088
lb-in 0.78 0.78 0.78 0.78
Motor Weight kg 5 5 5 5
lb 11 11 11 11
Notes
- All data is subject to a tolerance of ±10% (except motor ‘Voltage Gradient’ and Kt which are to +15%/-5%).
* - At 25ºC.
† - Note that Kt is shown as a combined value for all three phases.
\ - The temperature rise 'T on the windings is 110K and applies to all continuous torque values. The maximum ambient
temperature is 40qC and therefore the temperature on the windings should not be more than 150qC. A value higher
than 150qC would exceed the class F insulation temperature specification.
7 7
7 7
7 7
7 7
HJ96G6
Technical Data
7
Parameter Units HJ96G6-44 HJ96G6-64 HJ96G6-88 HJ96G6-130
Max. Current (Peak) A 71 50 36 24
Continuous Stall Torque TENV (110K) \ Nm 5.5 5.5 5.5 5.5
lb-in 49 49 49 49
(Size 300 x 300 x 12 mm) Nm 5.8 5.8 5.8 5.8
(Size 12 x 12 x 0.5 in) lb-in 51 51 51 51
Ib-in 190 190 190 190
Continuous Stall Current rms (110K) \ A 10.7 7.3 5.3 3.6

(Inclusive of Resolver Inertia) lb-in s² 0.0056 0.0056 0.0056 0.0056
Torque Constant 3 x Ktrms*† Nm/A 0.51 0.75 1.03 1.5
lb-in/A 4.6 6.6 9.1 13.5
STATOR WINDING
Resistance Line-Line* : 0.58 1.16 2.4 5.5

Inductance Line-Line mH 1.6 3.3 6.4 14
THERMAL
°F 104 104 104 104
°F/W 1.4 1.4 1.4 1.4
MECHANICAL

lb-in 0.62 0.62 0.62 0.62
lb-in 1.4 1.4 1.4 1.4
Motor Weight kg 7.2 7.2 7.2 7.2
lb 16 16 16 16
Notes
* - At 25ºC.
\ - The temperature rise 'T on the windings is 110K and applies to all continuous torque values. The maximum
ambient temperature is 40qC and therefore the temperature on the windings should not be more than 150qC. A
value higher than 150qC would exceed the class F insulation temperature specification.
7 7
7 7
7 7
7 7
HJ96 PERMITTED SHAFT LOADING
Axial loading may be considered separately – see next page
Maximum radial load to give 30,000 hours bearing life
1400
Fatigue Limit
1200
500rpm
1000
RADIAL SHAFT LOAD (N)
800
7 7
1000rpm
600
2000rpm
400
3000rpm
4000rpm
200
5000rpm
6000rpm
0
0 10 20 30 40 50
DIMENSION FROM MOUNTING FACE (mm)

HJ96 PERMITTED AXIAL LOADING
800
700
600
500
APPLIED AXIAL LOAD (N)
7 400
7
300
200
100
0
0 1000 2000 3000 4000 5000 6000 7000
SHAFT SPEED (RPM)

HJ96 - OPTIONS (metric series)
7
Code Description Notes
WAVEFORM (WINDING)
Y00* Waveform. Sinusoidal waveform.
FEEDBACK DEVICES
F00* Resolver (F00 setting). 2 Pole Resolver type 21-B with F00 setting.
F66 No Feedback
FITTED ENCODERS
E15 Encoder Heidenhain ERN1387 series, 2048ppr.
E22 Encoder, singleturn, optical Heidenhain ECN1313 series, 2048ppr with EnDat Interface.
E16 Encoder, multiturn, optical Heidenhain EQN1325 series, 2048ppr with EnDat Interface.
E33 Encoder, singleturn, Inductive Heidhenhain ECI1319 series, 32ppr with EnDat Interface
E34 Encoder, multiturn, Inductive Heidhenhain ECI1331 series, 32ppr with EnDat Interface
E20 Encoder, singleturn. Stegmann SRS50 series with Hiperface Interface.
E21 Encoder, multiturn. Stegmann SRM50 series with Hiperface Interface.
E27** Incremental Encoder Renco R35i, 1024ppr
MECHANICAL INTERFACE
M00* Flange. 96 x 96 mm square 80 mm dia. spigot fixing 4 x 7 mm dia. holes on
100 mm pcd.
R01 Close tolerance interface. Flange & shaft to IEC72-P (precision).
S00* Shaft. 19mm dia x 40mm long.
K00* Keyway. 6 x 6 x 32 mm long, enclosed type.
K99 No Keyway. Plain shaft.
D01* Shaft end threaded hole. M6 x 15mm deep.
BRAKES
B00 24Vdc Brake, SA. 5.0 Nm Torque, spring applied type.
B02 24Vdc Brake, PM. 7.0 Nm Torque, (at working temperature) permanent magnet type.
ELECTRICAL TERMINATIONS
C47* Motor & feedback connector Interconnectron motor receptacle (6 pin) and feedback
(Interconnectron). receptacle (12 pin 20 degree offset) (for motors fitted with resolver)
C48 Motor & feedback connector Interconnectron motor receptacle (6 pin) and feedback
(Interconnectron). receptacle (17 pin) (for motors fitted with encoder)
C68 Feedback plug. Interconnectron straight plug (12 pin) & cable clamp for C47.
C67 Motor plug. Interconnectron straight plug (6 pin) & cable clamp for C47/C48.
C21 Motor & feedback connector MS Motor receptacle (4pin) MS3102E-18-10P & feedback
(MS motors without brake) receptacle (17pin) MS3102E-20-29P.
(MS motors with brake) receptacle (17pin) MS3102E-20-29P.
C82 Feedback plug. MS straight plug & cable clamp for C21/C22.
C-- Motor plug. MS straight plug & cable clamp for C21.
C81 Motor plug. MS straight plug & cable clamp for C22.
THERMAL PROTECTION
P17* Thermal overload. Temperature sensor, Phillips type KTY 84-130.
P21 Thermal overload. Bi-metal thermal switch.
P18 No thermal overload. Thermal protection not fitted.
ENCLOSURE PROTECTION
W00* IP64/65 enclosure. Nitrile shaft seal for IP64/65 protection (factory fitted).
W01 IP64/65 enclosure. Viton shaft seal for IP64/65 protection (factory fitted).
W02 IP64/65 enclosure. Nitrile shaft seal for IP64/65 protection (supplied loose).
W03 IP64/65 enclosure. Viton shaft seal for IP64/65 protection (supplied loose).
UL APPROVAL
U00 UL approved motor
* Standard feature
**Other line counts available on request
HJ116C6
HJ116E6
HJ116J6
HJ116C6
Technical Data
8
Parameter Units HJ116C6-44 HJ116C6-64 HJ116C6-88 HJ116C6-130
GENERAL
Line-Line Volts
Max. Motor EMF Line-Line Volts 260 380 530 700
Continuous Stall Torque TENV (110K) \ Nm 5 5 5 5
lb-in 44 44 44 44
(Size 300 x 300 x 12 mm) Nm 5.4 5.4 5.4 5.4
(Size 12 x 12 x 0.5 in) lb-in 48 48 48 48
Ib-in 150 150 150 150
lb-in/A 4.6 6.6 9.1 13.5
STATOR WINDING

Inductance Line-Line mH 3 6.8 12.1 27
THERMAL
°F 104 104 104 104
°F/W 1.24 1.24 1.24 1.24
MECHANICAL

lb-in 0.792 0.792 0.792 0.792
lb-in 1.28 1.28 1.28 1.28
lb 15 15 15 15
Notes
* - At 25ºC.
8 8
8 8
8 8
8 8
HJ116E6 Brushless AC Servomotors
Technical Data 8
Parameter Units HJ116E6-44 HJ116E6-64 HJ116E6-88 HJ116E6-130
GENERAL
Line-Line Volts
Max. Current ( Peak ) A 81 54 41 27
lb-in 64 64 64 64
(Size 300 x 300 x 12 mm) Nm 7.9 7.9 7.9 7.9
(Size 12 x 12 x 0.5 in) lb-in 70 70 70 70
Ib-in 220 220 220 220
Continuous Stall Current rms (110K) \ A 14 9.6 7 4.7
lb-in/A 4.6 6.6 9.1 13.5
STATOR WINDING

THERMAL
°F 104 104 104 104
°F/W 1.11 1.11 1.11 1.11
MECHANICAL

lb-in 0.792 0.792 0.792 0.792
lb-in 1.9 1.9 1.9 1.9
lb 19 19 19 19
Notes
* - At 25ºC.
8 8
8 8
8 8
8 8
HJ116J6
Technical Data
8
Parameter Units HJ116J6-88 HJ116J6-130 HJ116J6-180 HJ116J6–260
GENERAL
Line-Line Volts
Voltage Gradient No Load (Peak)/1000RPM 88 130 180 260
Max. Current ( Peak) A 65 46 32 22
lb-in 104 104 104 104
( Size 300 x 300 x 12 mm ) Nm 12.8 12.8 12.8 12.8
( Size 12 x 12 x 0.5 in ) lb-in 113 113 113 113
lb-in 360 360 360 360
Rotor Polar Moment of Inertia Kgcm² 15 15 15 15
Torque Constant 3 x Ktrms*† Nm/A 1.03 1.5 2.1 3
lb-in/A 9.1 13.5 19 27
STATOR WINDING

THERMAL
°F 104 104 104 104
Thermal Resistance °C/Watt 0.48 0.48 0.48 0.48
°F/Watt 0.86 0.86 0.86 0.86
MECHANICAL

lb-in 0.792 0.792 0.792 0.792
lb-in 3.2 3.2 3.2 3.2
lb 26 26 26 26
Notes
* - At 25ºC.
8 8
8 8
8 8
8 8
HJ116 PERMITTED RADIAL SHAFT LOADING
Axial loading may be considered separately – see next page
1400
1200
1000
500rpm
800
8 1000rpm
8
2000rpm
600
3000rpm
4000rpm
5000rpm
400
6000rpm
200
0
0 10 20 30 40 50 60
HJ116 COMBINATION OF AXIAL AND
RADIAL SHAFT LOADING
Calculated combined load must NOT EXCEED the Radial Shaft loadings indicated on
the previous page
Equivalent radial load (Pr) = 0.56Fr + YFa Where Fr = Applied radial load
or = Fr (whichever is greater) Fa = Applied axial load (Max 1000N)
YFa = Value taken from previous page
YFa VALUE Vs APPLIED AXIAL LOAD

1800
1600
1400
1200
8 8
YFa VALUE (N)
1000
800
600
400
200
0
0 200 400 600 800 1000

8
WAVEFORM (WINDING)
FEEDBACK DEVICES
F66 No Feedback
FITTED ENCODERS
M00* Flange. 116 x 116 mm square 110 mm dia. spigot fixing 4 x 9 mm dia. holes
on 130 mm pcd.
BRAKES
B02 24Vdc Brake, PM. 15.0 Nm Torque, (at working temperature) permanent magnet type.
C47* Motor & feedback connector. Interconnectron motor receptacle (6 pin) and feedback
receptacle (12 pin 20 degree offset) (for motors fitted with resolver)
C48 Motor & feedback connector. Interconnectron motor receptacle (6 pin) and feedback
receptacle (17 pin) (for motors fitted with encoder)
THERMAL PROTECTION
UL APPROVAL
* Standard feature
HJ130A8
HJ130B8
HJ130C8
HJ130E8
HJ130G8
HJ130A8
Technical Data
9
Parameter Units HJ130A8-44S HJ130A8-64S HJ130A8-88S HJ130A8-130S
Max. Current (Peak) A 25 17 12.5 8.4
lb-in 25 25 25 25
(Size 400 x 400 x 6 mm) Nm 3.1 3.1 3.1 3.1
(Size 16 x 16 x 0.25 in) Lb-in 27 27 27 27
Peak Stall Torque Nm 8.6 8.6 8.6 8.6
Ib-in 76 76 76 76
lb-in/A 4.5 6.6 9 13.5
STATOR WINDING

Inductance Line-Line mH 4 8.2 16 34
THERMAL
Insulation Class F F F F F
°F 104 104 104 104
°F/W 2.0 2.0 2.0 2.0
MECHANICAL

( No shaft seal fitted ) lb-in 1.24 1.24 1.24 1.24
lb-in 2.5 2.5 2.5 2.5
lb 13.5 13.5 13.5 13.5
Notes
* - At 25ºC.
9 9
9 9
9 9
9 9
HJ130B8
Technical Data
9
Parameter Units HJ130B8-44S HJ130B8-64S HJ130B8-88S HJ130B8-130S
Max. Current (Peak) A 38 26 19 12.6
lb-in 37 37 37 37
(Size 400 x 400 x 6 mm) Nm 4.6 4.6 4.6 4.6
(Size 16 x 16 x 0.25 in) Lb-in 41 41 41 41
Peak Stall Torque Nm 13.1 13.1 13.1 13.1
Ib-in 116 116 116 116
Rotor Polar Moment of Inertia kgcm² 13 13 13 13
lb-in/A 4.5 6.6 9 13.5
STATOR WINDING

THERMAL
°F 104 104 104 104
°F/W 1.7 1.7 1.7 1.7
MECHANICAL

lb-in 2.7 2.7 2.7 2.7
lb 15 15 15 15
Notes
* - At 25ºC.
9 9
9 9
9 9
9 9
HJ130C8
Technical Data
9
Parameter Units HJ130C8-64S HJ130C8-88S HJ130C8-130S HJ130C8-180S
Max. Current (Peak) A 34 25 17 12.2
lb-in 50 50 50 50
(Size 400 x 400 x 6 mm) Nm 6.3 6.3 6.3 6.3
(Size 16 x 16 x 0.25 in) Lb-in 56 56 56 56
Ib-in 150 150 150 150
†
Torque Constant 3 x Ktrms* Nm/A 0.75 1.02 1.53 2.1
lb-in/A 6.6 9 13.5 19
STATOR WINDING

THERMAL
°F 104 104 104 104
°F/W 1.6 1.6 1.6 1.6
MECHANICAL

lb-in 2.7 2.7 2.7 2.7
lb 17 17 17 17
Notes
* - At 25ºC.
9 9
9 9
9 9
9 9
HJ130E8
Technical Data
9
Parameter Units HJ130E8-64S HJ130E8-88S HJ130E8-130S HJ130E8-180S
lb-in 74 74 74 74
(Size 400 x 400 x 6 mm) Nm 9.2 9.2 9.2 9.2
(Size 16 x 16 x 0.25 in) Lb-in 81 81 81 81
Ib-in 230 230 230 230
Continuous Stall Current rms (110K) \ A 11.2 8.2 5.5 4
†
lb-in/A 6.6 9 13.5 19
STATOR WINDING
Resistance Line-Line* : 0.54 0.98 2.2 4

THERMAL
°F 104 104 104 104
°F/W 1.36 1.36 1.36 1.36
MECHANICAL

lb-in 3 3 3 3
lb 21 21 21 21
Notes
* - At 25ºC.
9 9
9 9
9 9
9 9
HJ130G8
Technical Data
9
Parameter Units HJ130G8-88S HJ130G8-130S HJ130G8-180S HJ130G8-260S
lb-in 102 102 102 102
(Size 400 x 400 x 6 mm) Nm 12.5 12.5 12.5 12.5
(Size 16 x 16 x 0.25 in) Lb-in 111 111 111 111
Ib-in 300 300 300 300
†
lb-in/A 9 13.5 19 27
STATOR WINDING

THERMAL
°F 104 104 104 104
°F/W 1.14 1.14 1.14 1.14
MECHANICAL

lb-in 3.4 3.4 3.4 3.4
Motor Weight kg 11.5 11.5 11.5 11.5
lb 25 25 25 25
Notes
* - At 25ºC.
9 9
9 9
9 9
9 9
HJ130 PERMITTED RADIAL SHAFT LOADINGS
Axial loading may be considered seperately
see next page
2000
1800
1600
1400
500rpm
9 1200
9
1000rpm
1000
2000rpm
800
3000rpm
4000rpm
5000rpm
600
6000rpm
400
200
0
0 10 20 30 40 50 60
HJ130 PERMITTED AXIAL LOAD
900
800
700
600
500
9 400
9
300
200
100
0
0 1000 2000 3000 4000 5000 6000 7000
SHAFT SPEED (RPM)
9
WAVEFORM (WINDING)
FEEDBACK DEVICES
F66 No Feedback
FITTED ENCODERS
E04 Encoder, c/w com-tracks. Tamagawa 01H48 series, 1024ppr with commutation tracks.
E05 Encoder, c/w com-tracks. Tamagawa 01H48 series, 2048ppr with commutation tracks.
M00* Flange. 130 x 130 mm square 110mm dia. spigot fixing 4 x 9 mm dia. holes
on 145 mm pcd.
19mm dia x 58mm long (A,B & C length)
S00* Shaft.
22mm dia x 58mm long (E & G length)
5 x 5 x 25mm long (A, B & C length)
K00* Keyway.
6 x 6 x 25mm long (E & G length)
D01* Shaft end threaded hole. M5 x 15mm deep. (A, B & C length)
D02* Shaft end threaded hole. M8 x 20mm deep. (E & G length)
BRAKES
receptacle (12 pin 20 degree offset) (for motors fitted with resolver)
receptacle (17 pin) (for motors fitted with encoder)
THERMAL PROTECTION
UL APPROVAL
* Standard feature
HJT155A8
HJT155B8
HJT155D8
HJT155E8
HJT155G8
HJT155A8 Brushless AC Servomotors
Technical Data 10
Parameter Units HJT155A8-180S HJT155A8-130S HJT155A8-88S
GENERAL
Line-Line Volts
Voltage Gradient No Load (Peak)/1000rpm 180 130 88
Max. Current (Peak) A 20 27 42
Max. Motor EMF Line-Line Volts 700 650 440
Max. Mechanical Speed Limit rpm 3900 5000 5000
Continuous Stall Torque TENV (110K) ψ Nm 9 9 9
lb-in 80 80 80
(Size 300 x 300 x 12 mm) Nm 10 10 10
(Size 12 x 12 x 0.5 in) lb-in 88 88 88
Peak Stall Torque Nm 26 26 26
Ib-in 230 230 230
Continuous Stall Current rms (110K) ψ A 8.7 5.9 4.3
Rotor Polar Moment of Inertia kgcm² 22 22 22
(Inclusive of Resolver Inertia) lb-in s² 0.019 0.019 0.019
Nm/A 2.1 1.53 1.02
†
Torque Constant 3 x Ktrms* lb-in/A 19 13.5 9
STATOR WINDING
Resistance Line-Line* Ω 5.1 2.6 1.07

Inductance Line-Line mH 34 17 7.4
THERMAL
Insulation Class F F F
Max. Ambient Temperature °C 40 40 40
°F 104 104 104
Thermal Time Constant minutes 60 60 60
°C/W 0.55 0.55 0.55
Thermal Resistance °F/W 0.99 0.99 0.99
MECHANICAL
Static Friction Torque Nm 0.14 0.14 0.14

lb-in 1.24 1.24 1.24
Cogging Torque Nm 0.28 0.28 0.28
lb-in 2.5 2.5 2.5
Motor Weight kg 12.5 12.5 12.5
lb 28 28 28
Notes
* - At 25ºC.
ψ - The temperature rise ∆T on the windings is 110K and applies to all continuous torque values. The maximum
ambient temperature is 40°C and therefore the temperature on the windings should not be more than 150°C.
A value higher than 150°C would exceed the class F insulation temperature specification.
10 10
10 10
10 10
10 10
HJT155B8 Brushless AC Servomotors
Technical Data 10
Parameter Units HJT155B8-180S HJT155B8-130S HJT155B8-88S
GENERAL
Line-Line Volts
Continuous Stall Torque TENV (110K) ψ Nm 13.5 13.5 13.5
lb-in 119 119 119
(Size 300 x 300 x 12 mm) Nm 14.5 14.5 14.5
(Size 12 x 12 x 0.5 in) lb-in 128 128 128
Ib-in 350 350 350
Continuous Stall Current rms (110K) ψ A 6.4 8.9 13.1
Nm/A 2.1 1.53 1.02
†
Torque Constant 3 x Ktrms* lb-in/A 19 13.5 9
STATOR WINDING

Inductance Line-Line mH 21 10.7 4.8
THERMAL
°F 104 104 104
°C/W 0.49 0.49 0.49
MECHANICAL

lb-in 1.24 1.24 1.24
lb-in 3 3 3
Motor Weight kg 15 15 15
lb 33 33 33
Notes
* - At 25ºC.
10 10
10 10
10 10
10 10
HJT155D8
Technical Data
HJT155D8-130 HJT155D8-180
10
HJT155D8-260 HJT155D8-360
Parameter Units
GENERAL
Line-Line Volts
Voltage Gradient No Load (Peak)/1000RPM 130 180 260 360
Continuous Stall Torque TENV (110K)\ Nm 22 22 22 22
lb-in 190 190 190 190
(Size 300 x 300 x 12 mm) Nm 23 23 23 23
(Size 12 x 12 x 0.5 in) lb-in 220 220 220 220
Ib-in 580 580 580 580
Continuous Stall Current rms (110K)\ A 14 10.4 7.2 5.2
lb-in/A 13.5 19 27 37
STATOR WINDING

THERMAL
°F 104 104 104 104
°F/W 0.75 0.75 0.75 0.75
MECHANICAL

lb-in 1.24 1.24 1.24 1.24
lb-in 4.1 4.1 4.1 4.1
lb 44 44 44 44
Notes
* - At 25ºC.
10 10
10 10
10 10
10 10
HJT155E8
Technical Data
HJT155E8-130 HJT155E8-180 HJT155E8-260

10 HJT55E8-360
Parameter Units
GENERAL
Line-Line Volts
Continuous Stall Torque TENV (110K)\ Nm 25 25 25 35
lb-in 220 220 220 310
(Size 300 x 300 x 12 mm) Nm 26 26 26 26
(Size 12 x 12 x 0.5 in) lb-in 230 230 230 230
Ib-in 660 660 660 660
Continuous Stall Current rms (110K)\ A 16 11.9 8.2 5.9
†
Torque Constant 3 x Ktrms* Nm/A 1.5 2.1 3 4.2
lb-in/A 13.5 19 27 37
STATOR WINDING

THERMAL
°F 104 104 104 104
°F/W 0.62 0.62 0.62 0.62
MECHANICAL

lb-in 1.23 1.23 1.23 1.23
lb-in 4.6 4.6 4.6 4.6
lb 51 51 51 51
Notes
* - At 25ºC.
\ - The temperature rise 'T on the windings is 110K and applies to all continuous torque values. The maximum ambient
temperature is 40qC and therefore the temperature on the windings should not be more than 150qC. A value higher than
150qC would exceed the class F insulation temperature specification.
10 10
10 10
10 10
10 10
HJT155G8
Technical Data
HJT155G8-135 HJT155G8-180
10
HJT155G8-260
Parameter Units
GENERAL
Line-Line Volts
Max. Motor EMF Line - Line Volts 650 700 700
Continuous Stall Torque TENV (110K)ψ Nm 32 32 32
lb-in 280 280 280
(Size 300 x 300 x 12 mm) Nm 33 33 33
(Size 12 x 12 x 0.5 in) lb-in 290 290 290
Ib-in 290 290 290
Continuous Stall Current rms (110K)ψ A 20 15 10.5
Torque Constant 3 x Ktrms*† Nm/A 1.59 2.1 3
lb-in/A 14.1 19 27
STATOR WINDING

Inductance Line-Line mH 4.3 7.6 16
THERMAL
°F 104 104 104
Thermal Resistance °C/W 0.35 0.35 0.35
°F/W 0.62 0.62 0.62
MECHANICAL

lb-in 1.23 1.23 1.23
lb-in 5.7 5.7 5.7
lb 62 62 62
Notes
* - At 25ºC.
ψ - The temperature rise ∆T on the windings is 110K and applies to all continuous torque values. The maximum ambient
temperature is 40°C and therefore the temperature on the windings should not be more than 150°C. A value higher than
150°C would exceed the class F insulation temperature specification.
10 10
10 10
10 10
10 10
HJ155 PERMITTED RADIAL SHAFT LOADING
If axial loads are to be applied, the equivalent radial loading
must be calculated as described on the next page
3000
2500
2000
500 rpm
10 1500
1000 rpm
10
2000 rpm
1000
3000 rpm
4000 rpm
5000 rpm
6000 rpm
500
0
0 10 20 30 40 50 60 70

RADIAL SHAFT LOADING
Calculated combined load must NOT EXCEED the Radial Shaft loadings indicated on
the previous page
Equivalent radial load (Pr) = 0.56Fr + YFa Where Fr = Applied radial load
YFa = Value taken from previous page

1800
1600
1400
1200
10 10
YFa VALUE (N)
1000
800
600
400
200
0
0 200 400 600 800 1000

HJT155 - OPTIONS (metric series)
10
WAVEFORM (WINDING)
FEEDBACK DEVICES
F66 No Feedback.
FITTED ENCODERS
E15 Encoder. Heidenhain ERN1387 series, 2048ppr.
M00* Flange. 155 x 155 mm square 130mm dia. spigot fixing 4 x 11 mm dia.
holes on 165 mm pcd.
BRAKES
C71* Motor & feedback connector. Interconnectron motor receptacle (6 pin, size 1.5) and feedback
receptacle (12 pin 20 degree offset) (for motors fitted with
resolver).
C72 Motor & feedback connector. Interconnectron motor receptacle (6 pin, size 1.5) and feedback
receptacle (17 pin) (for motors fitted with encoder).
C47 Motor & feedback connector. Interconnectron motor receptacle (6 pin, size 1) and feedback
resolver).
C48 Motor & feedback connector. Interconnectron motor receptacle (6 pin, size 1) and feedback
(Note – with C47 and C48, the current of the motor is restricted. These options are therefore not available
for all motors).
C68 Feedback plug. Interconnectron straight plug (12 pin) & cable clamp for C71/C47
C69 Feedback plug. Interconnectron straight plug (17 pin) & cable clamp for C72/C48
(MS motors without brake) receptacle (17pin) MS3102E-20-29P. HJ130G only.
(MS motors with brake) receptacle (17pin) MS3102E-20-29P. HJ130G only.
* Standard feature
** Other line counts available on request
HJT155 - OPTIONS (metric series)
10
THERMAL PROTECTION
UL APPROVAL
* Standard feature
** Other line counts available on request
HJ190C8
HJ190D8
HJ190F8
HJ190K8
HJ190C8
Technical Data
11
Parameter Units HJ190C8-260 HJ190C8-180 HJ190C8-130 HJ190C8-88
GENERAL
Line-Line Volts
Continuous Stall Torque TENV (110K) ψ Nm 27 27 27 27
lb-in 240 240 240 240
(Size 300 x 300 x 12 mm) Nm 29 29 29 29
(Size 12 x 12 x 0.5 in) lb-in 260 260 260 260
Ib-in 750 750 750 750
Continuous Stall Current rms (110K) ψ A 8.9 12.8 18 26
Nm/A 3.03 2.1 1.53 1.02
†
Torque Constant 3 x Ktrms* lb-in/A 27 19 13.5 9
STATOR WINDING
Resistance Line-Line* Ω 1.8 0.85 0.4 0.2

Inductance Line-Line mH 26 12.4 6.3 3
THERMAL
°F 104 104 104 104
°C/W 0.36 0.36 0.36 0.36
Thermal Resistance °F/W 0.65 0.65 0.65 0.65
MECHANICAL

lb-in 1.24 1.24 1.24 1.24
lb-in 5 5 5 5
lb 64 64 64 64
Notes
* - At 25ºC.
11 11
11 11
11 11
11 11
11 11
11 11
HJ190D8
Technical Data
11
Parameter Units HJ190D8-260S HJ190D8-180S HJ190D8-130S
GENERAL
Line-Line Volts
lb-in 290 290 290
(Size 300 x 300 x 12 mm) Nm 35 35 35
(Size 12 x 12 x 0.5 in) lb-in 310 310 310
Ib-in 950 950 950
Continuous Stall Current rms (110K) ψ A 10.9 16 22
Nm/A 3.03 2.1 1.53
†
Torque Constant 3 x Ktrms* lb-in/A 27 19 13.5
STATOR WINDING

Inductance Line-Line mH 20 9.7 5
THERMAL
°F 104 104 104
°C/W 0.34 0.34 0.34
MECHANICAL

lb-in 1.24 1.24 1.24
lb-in 5.8 5.8 5.8
lb 74 74 74
Notes
* - At 25ºC.
11 11
11 11
11 11
11 11
HJ190F8
Technical Data
11
Parameter Units HJ190F8-260S HJ190F8-180S HJ190F8-130S
GENERAL
Line-Line Volts
lb-in 400 400 400
(Size 300 x 300 x 12 mm) Nm 48 48 48
(Size 12 x 12 x 0.5 in) lb-in 420 420 420
Ib-in 1330 1330 1330
Continuous Stall Current rms (110K) ψ A 15 21 30
Nm/A 3.03 2.1 1.53
†
Torque Constant 3 x Ktrms* lb-in/A 27 19 13.5
STATOR WINDING

Inductance Line-Line mH 13.9 6.8 3.5
THERMAL
°F 104 104 104
°C/W 0.3 0.3 0.3
MECHANICAL

lb-in 1.24 1.24 1.24
lb-in 7.4 7.4 7.4
lb 94 94 94
Notes
* - At 25ºC.
11 11
11 11
11 11
11 11
HJ190K8
Technical Data
11
Parameter Units HJ190K8-360S HJ190K8-260S HJ190K8-180S
GENERAL
Line-Line Volts
lb-in 590 590 590
(Size 300 x 300 x 12 mm) Nm 71 71 71
(Size 12 x 12 x 0.5 in) lb-in 630 630 630
Ib-in 2100 2100 2100
Continuous Stall Current rms (110K) ψ A 16 22 32
Nm/A 4.2 3.03 2.1
†
Torque Constant 3 x Ktrms* lb-in/A 37 27 19
STATOR WINDING

Inductance Line-Line mH 16 8.4 4.3
THERMAL
°F 104 104 104
°C/W 0.24 0.24 0.24
MECHANICAL

lb-in 1.24 1.24 1.24
lb-in 10.6 10.6 10.6
lb 135 135 135
Notes
* - At 25ºC.
11 11
11 11
11 11
11 11
HJ190 PERMITTED RADIAL SHAFT LOADINGS
(If axial loads are to be applied, the equivalent radial loading must
be calculated as described on the next page)
3000
2500
500rpm
2000
1000rpm
1500
2000rpm
3000rpm
4000rpm
1000 5000rpm
500
0
0 10 20 30 40 50 60 70 80 90
Shaft Loading Information for SEM Standard Servomotors

General notes:-
1 All loadings are based upon An L10 bearing life expectancy of 30,000 hours.
2 Separate graphs are usually supplied to indicate maximum axial loads which are applicable. However, for motors
with locked drive end bearings, a graph is used to illustrate the maximum allowed radial shaft loadings together
with a simplified calculation to provide a compensated figure for when radial and axial loadings are to be applied in
combination.
3 It may occur, in certain circumstances, that loading outside the scope of the published information is deemed
necessary. In these cases it is desirable that SEM Ltd should be consulted and all relevant information made
available, in order that due consideration can be given to finding a satisfactory solution.
4 Should motors be required to operate under abnormal conditions, such as excessive vibration or shock, this
should also be referred to SEM Ltd as noted above.
RADIAL SHAFT LOADINGS
Calculated combined load must NOT EXCEED the Radial Shaft loading indicated on the previous page
Equivalent radial load (Pr) = 0.56Fr + Yfa Where Fr = Applied radial load
YFa = Value taken from chart below

2400
2200
2000
1800
1600
1400
YFa VALUE (N)
1200
1000
800
600
400
200
0
0 200 400 600 800 1000 1200 1400
Shaft Loading Information for SEM Standard Servomotors

General notes:-
1 All loadings are based upon An L10 bearing life expectancy of 30,000 hours.
2 Separate graphs are usually supplied to indicate maximum axial loads which are applicable. However, for motors
with locked drive end bearings, a graph is used to illustrate the maximum allowed radial shaft loadings together
with a simplified calculation to provide a compensated figure for when radial and axial loadings are to be applied in
combination.
3 It may occur, in certain circumstances, that loading outside the scope of the published information is deemed
necessary. In these cases it is desirable that SEM Ltd should be consulted and all relevant information made
available, in order that due consideration can be given to finding a satisfactory solution.
4 Should motors be required to operate under abnormal conditions, such as excessive vibration or shock, this
should also be referred to SEM Ltd as noted above.
11
WAVEFORM (WINDING)
FEEDBACK DEVICES
F66 No Feedback.
FITTED ENCODERS
M00* Flange. 190 x 190 mm square 180mm dia. spigot fixing 4 x 14 mm dia.
holes on 215 mm pcd.
BRAKES
resolver).
THERMAL PROTECTION
UL APPROVAL
* Standard feature
USEFUL FORMULAE
All formulae given are for use in conjunction with the data
published within this manual.
Mechanical Time Constant, Wm = (J.R)/(2.Ktrms2)
Electrical Time Constant, We = (R/L)
Power, P = (Mn.Z)/9.55
Units
Mechanical time constant: ms Wm

Electrical time constant: ms We
Power: W P
12 12
Rotor polar moment of inertia: kg cm2 J
Resistance: : R
Torque constant: Nm/A Ktrms
Inductance: H L
Torque (nominal): Nm Mn
Rotational speed: rpm Z
Conversion table
Length: 1” (inch) = 25.4 mm 1m = 3.281’ (feet)

Mass: 1oz (ounce) = 0.0283 kg 1kg = 2.205lb (pounds)
Force: 1oz = 0.278 N 1N = 0.225lb
Temperature: 1F = (9/5)TqC + 32 1qC = 5/9 (TqF – 32)
Torque: 1lb-in = 0.113 Nm 1Nm = 0.7376 lb-ft
Inertia: 1oz-in2 = 1.83x10-5 kgm2 1kgm2 = 8.85 lb-in s2
Power: 1HP = 746 W 1kW = 1.34 HP
In accordance with our policy of continual product improvement, SEM reserves

the right to amend the specification of these products without prior notification.
Everything possible is done to ensure the accuracy of the technical information

published herewith. However, mistakes do occur and data should be double-
checked with SEM prior to its use in any decisive design stage.

HJ AC Servo Motor Technical Data Manual Issue 5.5

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TECHNICAL DATA MANUAL

Publication No. TD HJM 1.2

Date: November 2009

5 Feedback device specification

6 Torque derating at high temperatures

7 HJ96 Technical Information

8 HJ116 Technical Information

9 HJ130 Technical Information

10 HJT155 Technical Information

The optimum performance of a Brushless Servomotor is achievable without danger of

Speeds of up to 6000 rpm Direct Drive are possible.

SEM BRUSHED SERVOMOTORS STILL HAVE THE FOLLOWING ADVANTAGES

A. Minimum system cost Torque for Torque.

B. Smoothest running at low speed.

RECEIVING AND STORAGE

Protection Class Description

PTC Temperature Sensor (Standard)

Resistance change with termperature

Normally Closed Switch (Option)

HOLDING BRAKE OPTIONS

Spring Applied Brake

Brake holding torque at Nominal Power

HJ116 13.5 (119) 24 or 90 15

HJ130 13.5 (119) 24 or 90 15

Permanent Magnet Brake

Brake holding torque at Nominal Power

HJ130 TBA TBA TBA

MAINTENANCE AND SERVICING

Frame Drive End / Non-Drive End ISO Code

Frame – Size Tighten to Nm (in-lb)

ENVIRONMENTAL LIMITS FOR SHOCK AND VIBRATION

Machinery Directive 2006/42/EC

In accordance with the directive, SEM provides a Certificate of Incorporation which

Low Voltage Directive 2006/95/EC

A certificate of conformity is available from SEM sales on request.

2 EMC Directive (Electro Magnetic Compatibility) 2004/108/EC

SHAFT DIAMETER NORMAL PRECISION

≤10 .030 .00181 .015 .00059

SPIGOT MAXIMUM PERMISSIBLE CHANGE

FEEDBACK CONNECTOR TERMINAL BOX (OPTION)

2 STATOR 2nd PHASE S4

11 STATOR 1ST PHASE S1

12 STATOR 1ST PHASE S3

INTERCONNECTRON SUPPLY CONNECTOR (OPTION)

4 SIZE 1 - 12 PIN (20° OFFSET)

(HJ155 ONLY) MOTOR EARTH

SUPPLY CONNECTOR (OPTION)

INTERCONNECTRON PIN FUNCTION

SUPPLY CONNECTOR (OPTION)

SUPPLY CONNECTOR (OPTION)

SUPPLY CONNECTOR (OPTION)

W U + BRAKE B+ (IF FITTED)

– BRAKE B– (IF FITTED)

SUPPLY CONNECTOR (OPTION)

6 4 BRAKE B+ (IF FITTED)

SUPPLY CONNECTOR (OPTION)

SUPPLY CONNECTOR (OPTION)

W U + BRAKE B+ (IF FITTED)